Siemens SINUMERIK 840D sl Function Manual

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M1: Kinematic transformation7.5 Chained transformationsExtended FunctionsFunction Manual, 09/2009, 6FC5397-1BP20-0BA0 5537.5.4 Persistent transformationFunctionA persistent transformation is always active and has a relative effect to the other explicitlyselected transformations. Other selected transformation are computed as the first chainedtransformation in relation to the persistent transformation.Transformations such as TRANSMIT that must be selected in relation to the persistenttransformation must be parameterized in a chain with the persistent transformation by meansof TRACON. It is the first chained transformation rather than the TRACON transformationwhich is programmed in the parts program.For additional programming tips seeReferences:/PGA/ Programming Manual Job Planning; Transformations "Chained Transformation"Selection and deselectionPersistent transformation is selected via the following machine data:MD20144 $MC_TRAFO_MODE_MASK, Bit 0 = 1MD20144 $MC_TRAFO_RESET_VALUE defines persistent transformation.MD20140 $MC_TRAFO_RESET_VALUE=Number of the transformation data set of thepersistent transformationIn addition the following must be set (i.e. noted):MD20110 $MC_RESET_MODE_MASKBit 0 = 1 (Bit 7 is evaluated)Bit 7 =0 (MD20140 $MC_TRAFO_RESET_VALUE determines the transformation data set)MD20112 $MC_START_MODE_MASK (MD20140 $MC_TRAFO_RESET_VALUE)MD20118 $MC_GEOAX_CHANGE_RESET= TRUE (i.e. geometry axes are reset).If this additional data is not parameterized correctly,alarm 14404 is generated.With TRAFOOF the active TRACON is deselected and the persistent transformation isautomatically selected.